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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-static-methods">Static Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="#pro-attribs">Protected Attributes</a> &#124;
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<div class="title">ArMode Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span><div class="ingroups"><a class="el" href="group__OptionalClasses.html">Optional Classes</a></div></div>  </div>
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<p>A class for different modes, mostly as related to keyboard input.  
 <a href="classArMode.html#details">More...</a></p>

<p><code>#include &lt;ArMode.h&gt;</code></p>

<p>Inherited by <a class="el" href="classArModeActs.html">ArModeActs</a>, ArModeBumps, <a class="el" href="classArModeCamera.html">ArModeCamera</a>, ArModeCommand, <a class="el" href="classArModeConfig.html">ArModeConfig</a>, <a class="el" href="classArModeGripper.html">ArModeGripper</a>, ArModeIO, ArModeLaser, ArModePosition, <a class="el" href="classArModeRobotStatus.html">ArModeRobotStatus</a>, <a class="el" href="classArModeSonar.html">ArModeSonar</a>, <a class="el" href="classArModeTCM2.html">ArModeTCM2</a>, <a class="el" href="classArModeTeleop.html">ArModeTeleop</a>, <a class="el" href="classArModeUnguardedTeleop.html">ArModeUnguardedTeleop</a>, and <a class="el" href="classArModeWander.html">ArModeWander</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a334c6d1127cea9c71d3231241eda0750"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a334c6d1127cea9c71d3231241eda0750"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a334c6d1127cea9c71d3231241eda0750">activate</a> (void)=0</td></tr>
<tr class="memdesc:a334c6d1127cea9c71d3231241eda0750"><td class="mdescLeft">&#160;</td><td class="mdescRight">The function called when the mode is activated, subclass must provide. <br /></td></tr>
<tr class="separator:a334c6d1127cea9c71d3231241eda0750"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd776be7a002621eb93dd285c6cdeeaf"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#abd776be7a002621eb93dd285c6cdeeaf">ArMode</a> (<a class="el" href="classArRobot.html">ArRobot</a> *robot, const char *name, char key, char key2)</td></tr>
<tr class="memdesc:abd776be7a002621eb93dd285c6cdeeaf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor.  <a href="#abd776be7a002621eb93dd285c6cdeeaf">More...</a><br /></td></tr>
<tr class="separator:abd776be7a002621eb93dd285c6cdeeaf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e18e55584317466f4d1984220334683"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a9e18e55584317466f4d1984220334683">baseActivate</a> (void)</td></tr>
<tr class="memdesc:a9e18e55584317466f4d1984220334683"><td class="mdescLeft">&#160;</td><td class="mdescRight">The base activation, it MUST be called by inheriting classes, and inheriting classes MUST return if this returns false.  <a href="#a9e18e55584317466f4d1984220334683">More...</a><br /></td></tr>
<tr class="separator:a9e18e55584317466f4d1984220334683"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e7f6b63efc4fd98d908f8c7ba925e30"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a8e7f6b63efc4fd98d908f8c7ba925e30">baseDeactivate</a> (void)</td></tr>
<tr class="memdesc:a8e7f6b63efc4fd98d908f8c7ba925e30"><td class="mdescLeft">&#160;</td><td class="mdescRight">The base deactivation, it MUST be called by inheriting classes, and inheriting classes MUST return if this returns false.  <a href="#a8e7f6b63efc4fd98d908f8c7ba925e30">More...</a><br /></td></tr>
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<tr class="memitem:a8bd934247de3b8912e403ae33a86f2bf"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8bd934247de3b8912e403ae33a86f2bf"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a8bd934247de3b8912e403ae33a86f2bf">deactivate</a> (void)=0</td></tr>
<tr class="memdesc:a8bd934247de3b8912e403ae33a86f2bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">The function called when the mode is deactivated, subclass must provide. <br /></td></tr>
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<tr class="memitem:a3a26b93738b421457a55c1e349d2a459"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3a26b93738b421457a55c1e349d2a459"></a>
char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a3a26b93738b421457a55c1e349d2a459">getKey</a> (void)</td></tr>
<tr class="memdesc:a3a26b93738b421457a55c1e349d2a459"><td class="mdescLeft">&#160;</td><td class="mdescRight">An internal function to get the first key this is bound to. <br /></td></tr>
<tr class="separator:a3a26b93738b421457a55c1e349d2a459"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:add12b8d05da6cafefaf3d99f97d3b376"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="add12b8d05da6cafefaf3d99f97d3b376"></a>
char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#add12b8d05da6cafefaf3d99f97d3b376">getKey2</a> (void)</td></tr>
<tr class="memdesc:add12b8d05da6cafefaf3d99f97d3b376"><td class="mdescLeft">&#160;</td><td class="mdescRight">An internal function to get the second key this is bound to. <br /></td></tr>
<tr class="separator:add12b8d05da6cafefaf3d99f97d3b376"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa687cea3c910201fa3284c25590b25ca"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa687cea3c910201fa3284c25590b25ca"></a>
const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#aa687cea3c910201fa3284c25590b25ca">getName</a> (void)</td></tr>
<tr class="memdesc:aa687cea3c910201fa3284c25590b25ca"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the mode. <br /></td></tr>
<tr class="separator:aa687cea3c910201fa3284c25590b25ca"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4299b6d4982292b29de39d29c5d7f81"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#ab4299b6d4982292b29de39d29c5d7f81">help</a> (void)</td></tr>
<tr class="memdesc:ab4299b6d4982292b29de39d29c5d7f81"><td class="mdescLeft">&#160;</td><td class="mdescRight">The mode's help print out... subclass must provide if needed.  <a href="#ab4299b6d4982292b29de39d29c5d7f81">More...</a><br /></td></tr>
<tr class="separator:ab4299b6d4982292b29de39d29c5d7f81"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa612d33698ee01dbf3801d3fabae6af8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa612d33698ee01dbf3801d3fabae6af8"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#aa612d33698ee01dbf3801d3fabae6af8">userTask</a> (void)</td></tr>
<tr class="memdesc:aa612d33698ee01dbf3801d3fabae6af8"><td class="mdescLeft">&#160;</td><td class="mdescRight">The <a class="el" href="classArMode.html" title="A class for different modes, mostly as related to keyboard input. ">ArMode</a>'s user task, don't need one, subclass must provide if needed. <br /></td></tr>
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<tr class="memitem:a3234fc6c9f57782161b509bcbfec8267"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3234fc6c9f57782161b509bcbfec8267"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#a3234fc6c9f57782161b509bcbfec8267">~ArMode</a> ()</td></tr>
<tr class="memdesc:a3234fc6c9f57782161b509bcbfec8267"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ad4197cc69eb0bba23cdf98692cfbf22f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad4197cc69eb0bba23cdf98692cfbf22f"></a>
static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArMode.html#ad4197cc69eb0bba23cdf98692cfbf22f">baseHelp</a> (void)</td></tr>
<tr class="memdesc:ad4197cc69eb0bba23cdf98692cfbf22f"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is the base help function, its internal, bound to ? and h and H. <br /></td></tr>
<tr class="separator:ad4197cc69eb0bba23cdf98692cfbf22f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a65dad9084412e96911496bc7a89cca4e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a65dad9084412e96911496bc7a89cca4e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>addKeyHandler</b> (int keyToHandle, <a class="el" href="classArFunctor.html">ArFunctor</a> *functor)</td></tr>
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<tr class="memitem:af8bb6fd58f24888e77561398dd15839e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8bb6fd58f24888e77561398dd15839e"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>remKeyHandler</b> (<a class="el" href="classArFunctor.html">ArFunctor</a> *functor)</td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:ad433c9964c113fe8e5ab871f2a234cfd"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad433c9964c113fe8e5ab871f2a234cfd"></a>
<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArMode.html">ArMode</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myActivateCB</b></td></tr>
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<tr class="memitem:a9b4b1b2f63424dbb9ab8962f49ebc15d"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9b4b1b2f63424dbb9ab8962f49ebc15d"></a>
<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArMode.html">ArMode</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myDeactivateCB</b></td></tr>
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char&#160;</td><td class="memItemRight" valign="bottom"><b>myKey</b></td></tr>
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<tr class="memitem:ae66d66db08c51fc81e9bb2c15d08a3f4"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae66d66db08c51fc81e9bb2c15d08a3f4"></a>
char&#160;</td><td class="memItemRight" valign="bottom"><b>myKey2</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myName</b></td></tr>
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<tr class="memitem:a648cf22e7eb6dc0ac02db80fd977c0da"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a648cf22e7eb6dc0ac02db80fd977c0da"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myRobot</b></td></tr>
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<tr class="memitem:ad5ea62a5d17748f0ed393fffc0b24517"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5ea62a5d17748f0ed393fffc0b24517"></a>
<a class="el" href="classArFunctorC.html">ArFunctorC</a>&lt; <a class="el" href="classArMode.html">ArMode</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>myUserTaskCB</b></td></tr>
<tr class="separator:ad5ea62a5d17748f0ed393fffc0b24517"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-static-attribs"></a>
Static Protected Attributes</h2></td></tr>
<tr class="memitem:aec63564b66ffa005e7a1001203e7de25"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aec63564b66ffa005e7a1001203e7de25"></a>
static <a class="el" href="classArMode.html">ArMode</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>ourActiveMode</b> = NULL</td></tr>
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<tr class="memitem:a48b24150b886fdc36f83b7b5c2e1d8b8"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a48b24150b886fdc36f83b7b5c2e1d8b8"></a>
static <a class="el" href="classArGlobalFunctor.html">ArGlobalFunctor</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>ourHelpCB</b> = NULL</td></tr>
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<tr class="memitem:aabc1ab8bb5c1313e013d6f58942cc678"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aabc1ab8bb5c1313e013d6f58942cc678"></a>
static std::list&lt; <a class="el" href="classArMode.html">ArMode</a> * &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ourModes</b></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>A class for different modes, mostly as related to keyboard input. </p>
<p>Each mode is going to need to add its keys to the keyHandler... each mode should only use the keys 1-0, the arrow keys (movement), the space bar (stop), z (zoom in), x (zoom out), and e (exercise)... then when its activate is called by that key handler it needs to first deactivate the ourActiveMode (if its not itself, in which case its done) then add its key handling stuff... activate and deactivate will need to add and remove their user tasks (or call the base class activate/deactivate to do it) as well as the key handling things for their other part of modes. This mode will ALWAYS bind help to /, ?, h, and H when the first instance of an <a class="el" href="classArMode.html" title="A class for different modes, mostly as related to keyboard input. ">ArMode</a> is made. </p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a class="anchor" id="abd776be7a002621eb93dd285c6cdeeaf"></a>
<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">ArMode::ArMode </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td>
          <td class="paramname"><em>robot</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const char *&#160;</td>
          <td class="paramname"><em>name</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">char&#160;</td>
          <td class="paramname"><em>key</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">char&#160;</td>
          <td class="paramname"><em>key2</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
  <table class="params">
    <tr><td class="paramname">robot</td><td>the robot we're attaching to</td></tr>
    <tr><td class="paramname">name</td><td>the name of this mode</td></tr>
    <tr><td class="paramname">key</td><td>the primary key to switch to this mode on... it can be '\0' if you don't want to use this</td></tr>
    <tr><td class="paramname">key2</td><td>an alternative key to switch to this mode on... it can be '\0' if you don't want a second alternative key </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">Member Function Documentation</h2>
<a class="anchor" id="a9e18e55584317466f4d1984220334683"></a>
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          <td class="memname">bool ArMode::baseActivate </td>
          <td>(</td>
          <td class="paramtype">void&#160;</td>
          <td class="paramname"></td><td>)</td>
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<p>The base activation, it MUST be called by inheriting classes, and inheriting classes MUST return if this returns false. </p>
<p>Inheriting modes must first call this to get their user task called and to deactivate the active mode....</p>
<p>if it returns false then the inheriting class must return, as it means that his mode is already active </p>

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<p>The base deactivation, it MUST be called by inheriting classes, and inheriting classes MUST return if this returns false. </p>
<p>This gets called when the mode is deactivated, it removes the user task from the robot. </p>

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          <td class="memname">virtual void ArMode::help </td>
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<p>The mode's help print out... subclass must provide if needed. </p>
<p>This is called as soon as a mode is activated, and should give directions on to what keys do what and what this mode will do </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArMode.h</li>
<li>ArMode.cpp</li>
</ul>
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